mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 20:31:12 +00:00
Oleksandr Bezdieniezhnykh
324bbd6367
REPLAY_BUILD_FLAGS contains three names but the test compose files
only ever set BUILD_REPLAY_SINK_JSONL. Every prior Reality-Gate run
hit the auto-sync hard-fail before reaching the VideoFileFrameSource
or TlogReplayFcAdapter build-flag gates, so the omission stayed
hidden. AZ-611 makes tests bypass auto-sync, which exposes the next
gate: VideoFileFrameSource raises FrameSourceConfigError
("BUILD_VIDEO_FILE_FRAME_SOURCE is OFF; ... unavailable").
Mirror the airborne binary's flag requirements in both
docker-compose.test.yml (Colima Tier-1) and
docker-compose.test.jetson.yml (Jetson Tier-2). Comment block in
both files documents why all three must be ON.
Co-authored-by: Cursor <cursoragent@cursor.com>
107 lines
3.8 KiB
YAML
107 lines
3.8 KiB
YAML
# Tier-2 e2e harness — Jetson Orin Nano (JetPack 6.x, L4T R36.x).
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#
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# AZ-615: companion compose file to `docker-compose.test.yml` that runs
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# the full Reality Gate on a CUDA-capable host. Used via `ssh jetson-e2e
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# "docker compose -f docker-compose.test.jetson.yml up ..."` driven by
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# `scripts/run-tests-jetson.sh`.
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#
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# Difference vs. docker-compose.test.yml:
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# * `runtime: nvidia` + `gpus: all` on `e2e-runner` so the SUT can
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# resolve `model.half().cuda()` against the Orin GPU.
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# * `GPS_DENIED_TIER=2` — turns OFF the auto-skip for `@pytest.mark.tier2`
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# ACs (see tests/conftest.py:31-44). The heavy ACs (AC-1, AC-2, AC-3,
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# AC-5, AC-6) actually run.
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# * Builds from `tests/e2e/Dockerfile.jetson` (l4t-pytorch base).
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# * Companion / db / mock-sat continue to come from the root
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# `docker-compose.yml` via `extends:` (same as Colima) — they have ARM64
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# tags via the existing build pipeline.
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#
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# Satellite-provider integration (real .NET service at ../satellite-provider/)
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# is tracked separately under AZ-616 and lands as a follow-up patch to this
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# file once the auth + tile-source strategy is decided.
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services:
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companion:
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extends:
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file: docker-compose.yml
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service: companion
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environment:
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LOG_LEVEL: INFO
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operator-orchestrator:
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extends:
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file: docker-compose.yml
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service: operator-orchestrator
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mock-sat:
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extends:
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file: docker-compose.yml
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service: mock-sat
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db:
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extends:
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file: docker-compose.yml
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service: db
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e2e-runner:
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build:
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context: .
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dockerfile: tests/e2e/Dockerfile.jetson
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image: gps-denied-onboard/e2e-runner:jetson
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# nvidia-container-runtime exposes the Tegra GPU + libcuda mounts.
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# Without this block the container starts but `torch.cuda.is_available()`
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# returns False and every tier2 AC errors at `.cuda()`.
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runtime: nvidia
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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depends_on:
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companion:
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condition: service_healthy
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mock-sat:
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condition: service_healthy
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db:
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condition: service_healthy
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environment:
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# Same FullSystemConfig env block as Colima — see comments in
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# docker-compose.test.yml for the per-var rationale.
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GPS_DENIED_FC_PROFILE: ardupilot_plane
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# Tier-2 turns OFF the `tier2` / `gpu` auto-skip in tests/conftest.py
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# so the heavy ACs in tests/e2e/replay/test_derkachi_1min.py actually
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# execute. This is the WHOLE POINT of the Jetson harness.
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GPS_DENIED_TIER: "2"
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DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
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SATELLITE_PROVIDER_URL: http://mock-sat:5100
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COMPANION_URL: http://companion:8080
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CAMERA_CALIBRATION_PATH: /opt/tests/fixtures/calibration/adti26.json
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LOG_LEVEL: INFO
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LOG_SINK: console
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INFERENCE_BACKEND: pytorch_fp16
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FDR_PATH: /var/lib/gps-denied/fdr
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TILE_CACHE_PATH: /var/lib/gps-denied/tiles
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MAVLINK_SIGNING_KEY: /opt/tests/fixtures/mavlink_signing/dev_key
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RUN_REPLAY_E2E: "1"
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# Replay-mode build flags (Invariant 9). See identical block in
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# docker-compose.test.yml — all three are required for the
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# composition root to construct the replay strategies. The
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# original harness only set BUILD_REPLAY_SINK_JSONL because
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# every Reality-Gate run died at auto-sync before the other
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# two flags were checked.
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BUILD_VIDEO_FILE_FRAME_SOURCE: "ON"
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BUILD_TLOG_REPLAY_ADAPTER: "ON"
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BUILD_REPLAY_SINK_JSONL: "ON"
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volumes:
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- ./tests:/opt/tests:ro
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- ./_docs/00_problem/input_data:/opt/_docs/00_problem/input_data:ro
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- fdr-data:/var/lib/gps-denied/fdr
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- tile-data:/var/lib/gps-denied/tiles
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volumes:
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db-data: {}
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fdr-data: {}
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tile-data: {}
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